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<a href="collision__object__ex_8cc.html">Go to the documentation of this file.</a><div class="fragment"><div class="line"><a name="l00001"></a><span class="lineno">    1</span>&#160;<span class="preprocessor">#include &quot;<a class="code" href="solver__entity__fcl__factory_8h.html">collision/solvers/fcl/solver_entity_fcl_factory.h</a>&quot;</span></div><div class="line"><a name="l00002"></a><span class="lineno">    2</span>&#160;</div><div class="line"><a name="l00003"></a><span class="lineno">    3</span>&#160;<span class="preprocessor">#include &quot;<a class="code" href="collision__object__ex_8h.html">collision/collision_object_ex.h</a>&quot;</span></div><div class="line"><a name="l00004"></a><span class="lineno">    4</span>&#160;</div><div class="line"><a name="l00005"></a><span class="lineno">    5</span>&#160;<span class="preprocessor">#include &quot;<a class="code" href="solver__entity__fcl_8h.html">collision/solvers/fcl/solver_entity_fcl.h</a>&quot;</span></div><div class="line"><a name="l00006"></a><span class="lineno">    6</span>&#160;</div><div class="line"><a name="l00007"></a><span class="lineno">    7</span>&#160;<span class="preprocessor">#include &quot;<a class="code" href="i__solver__entity__fcl_8h.html">collision/solvers/fcl/i_solver_entity_fcl.h</a>&quot;</span></div><div class="line"><a name="l00008"></a><span class="lineno">    8</span>&#160;</div><div class="line"><a name="l00009"></a><span class="lineno">    9</span>&#160;<span class="preprocessor">#include &quot;<a class="code" href="collision__queries_8h.html">collision/solvers/collision_queries.h</a>&quot;</span></div><div class="line"><a name="l00010"></a><span class="lineno">   10</span>&#160;</div><div class="line"><a name="l00011"></a><span class="lineno">   11</span>&#160;<span class="keyword">namespace </span><a class="code" href="namespacecollision.html">collision</a> {</div><div class="line"><a name="l00012"></a><span class="lineno">   12</span>&#160;</div><div class="line"><a name="l00013"></a><span class="lineno"><a class="line" href="classcollision_1_1_collision_object_ex.html#a7fa9738682fe6d4cdef843e99fa5e693">   13</a></span>&#160;<span class="keywordtype">bool</span> <a class="code" href="classcollision_1_1_collision_object_ex.html#a7fa9738682fe6d4cdef843e99fa5e693">CollisionObjectEx::collide</a>(<span class="keyword">const</span> <a class="code" href="classcollision_1_1_collision_object.html">CollisionObject</a> &amp;c,</div><div class="line"><a name="l00014"></a><span class="lineno">   14</span>&#160;                                <span class="keyword">const</span> <a class="code" href="classcollision_1_1_collision_request.html">collision::CollisionRequest</a> &amp;req)<span class="keyword"> const </span>{</div><div class="line"><a name="l00015"></a><span class="lineno">   15</span>&#160;  <a class="code" href="classcollision_1_1_collision_result.html">CollisionResult</a> res;</div><div class="line"><a name="l00016"></a><span class="lineno">   16</span>&#160;  <a class="code" href="namespacecollision.html#a5cee8ff95bba8dd2854ffb0d65c45a0e">collision::collide_binary</a>(*<span class="keyword">this</span>, c, res, req);</div><div class="line"><a name="l00017"></a><span class="lineno">   17</span>&#160;  <span class="keywordflow">return</span> res.<a class="code" href="classcollision_1_1_collision_result.html#acc22ba66fddc2dfb73d82257fcb30eae">collides</a>();</div><div class="line"><a name="l00018"></a><span class="lineno">   18</span>&#160;}</div><div class="line"><a name="l00019"></a><span class="lineno">   19</span>&#160;</div><div class="line"><a name="l00020"></a><span class="lineno"><a class="line" href="classcollision_1_1_collision_object_ex.html#a50d6ae971b8c05c6ad8e876ed3141733">   20</a></span>&#160;<span class="keywordtype">bool</span> <a class="code" href="classcollision_1_1_collision_object_ex.html#a50d6ae971b8c05c6ad8e876ed3141733">CollisionObjectEx::BVCheck</a>(<a class="code" href="namespacecollision.html#a405f2c04407997fea529aad88f04ad30">CollisionObjectConstPtr</a> obj2)<span class="keyword"> const </span>{</div><div class="line"><a name="l00021"></a><span class="lineno">   21</span>&#160;  <a class="code" href="classcollision_1_1solvers_1_1solver_f_c_l_1_1_solver_entity___f_c_l.html">SolverEntity_FCL</a> *entity;</div><div class="line"><a name="l00022"></a><span class="lineno">   22</span>&#160;  <a class="code" href="classcollision_1_1_collision_object_ex.html#a1e96193008a86cfe46c873d358aadc67">getSolverEntity</a>(entity);</div><div class="line"><a name="l00023"></a><span class="lineno">   23</span>&#160;  <span class="keywordflow">if</span> (entity-&gt;<a class="code" href="classcollision_1_1solvers_1_1solver_f_c_l_1_1_solver_entity___f_c_l.html#a2f4083a26378b869e15a0bb4d12b097a">getFclEntityType</a>() ==</div><div class="line"><a name="l00024"></a><span class="lineno">   24</span>&#160;      <a class="code" href="namespacecollision_1_1solvers_1_1solver_f_c_l.html#aa90569f714d7d5ce0cbeb73fb19775e1afe0ebdf03950e943b4df600e63ad9900">FCL_COLLISION_ENTITY_TYPE::COLLISION_ENTITY_TYPE_FCL_OBJECT</a>) {</div><div class="line"><a name="l00025"></a><span class="lineno">   25</span>&#160;    <span class="keywordflow">return</span> (static_cast&lt;FCLCollisionObject *&gt;(entity))-&gt;<a class="code" href="classcollision_1_1_collision_object_ex.html#a50d6ae971b8c05c6ad8e876ed3141733">BVCheck</a>(obj2);</div><div class="line"><a name="l00026"></a><span class="lineno">   26</span>&#160;  }</div><div class="line"><a name="l00027"></a><span class="lineno">   27</span>&#160;  <span class="keywordflow">return</span> <span class="keyword">true</span>;</div><div class="line"><a name="l00028"></a><span class="lineno">   28</span>&#160;}</div><div class="line"><a name="l00029"></a><span class="lineno">   29</span>&#160;</div><div class="line"><a name="l00030"></a><span class="lineno">   30</span>&#160;std::shared_ptr&lt;const collision::RectangleAABB&gt;</div><div class="line"><a name="l00031"></a><span class="lineno"><a class="line" href="classcollision_1_1_collision_object_ex.html#a7cbe600ed254b8e9ae54fd1e658d6991">   31</a></span>&#160;<a class="code" href="classcollision_1_1_collision_object_ex.html#a7cbe600ed254b8e9ae54fd1e658d6991">CollisionObjectEx::getAABB</a>()<span class="keyword"> const </span>{</div><div class="line"><a name="l00032"></a><span class="lineno">   32</span>&#160;  <a class="code" href="classcollision_1_1solvers_1_1solver_f_c_l_1_1_solver_entity___f_c_l.html">SolverEntity_FCL</a> *entity;</div><div class="line"><a name="l00033"></a><span class="lineno">   33</span>&#160;  <a class="code" href="classcollision_1_1_collision_object_ex.html#a1e96193008a86cfe46c873d358aadc67">getSolverEntity</a>(entity);</div><div class="line"><a name="l00034"></a><span class="lineno">   34</span>&#160;  <span class="keywordflow">if</span> (entity-&gt;<a class="code" href="classcollision_1_1solvers_1_1solver_f_c_l_1_1_solver_entity___f_c_l.html#a2f4083a26378b869e15a0bb4d12b097a">getFclEntityType</a>() ==</div><div class="line"><a name="l00035"></a><span class="lineno">   35</span>&#160;      <a class="code" href="namespacecollision_1_1solvers_1_1solver_f_c_l.html#aa90569f714d7d5ce0cbeb73fb19775e1afe0ebdf03950e943b4df600e63ad9900">FCL_COLLISION_ENTITY_TYPE::COLLISION_ENTITY_TYPE_FCL_OBJECT</a>) {</div><div class="line"><a name="l00036"></a><span class="lineno">   36</span>&#160;    <span class="keywordflow">return</span> (static_cast&lt;FCLCollisionObject *&gt;(entity))-&gt;<a class="code" href="classcollision_1_1_collision_object_ex.html#a7cbe600ed254b8e9ae54fd1e658d6991">getAABB</a>();</div><div class="line"><a name="l00037"></a><span class="lineno">   37</span>&#160;  }</div><div class="line"><a name="l00038"></a><span class="lineno">   38</span>&#160;  std::cout</div><div class="line"><a name="l00039"></a><span class="lineno">   39</span>&#160;      &lt;&lt; <span class="stringliteral">&quot;Returning bounding volume for complex shapes is not implemented&quot;</span>;</div><div class="line"><a name="l00040"></a><span class="lineno">   40</span>&#160;  <span class="keywordflow">throw</span>;</div><div class="line"><a name="l00041"></a><span class="lineno">   41</span>&#160;}</div><div class="line"><a name="l00042"></a><span class="lineno">   42</span>&#160;</div><div class="line"><a name="l00043"></a><span class="lineno"><a class="line" href="classcollision_1_1_collision_object_ex.html#ab080033cf96284d10d0a7950bf2fd595">   43</a></span>&#160;<span class="keywordtype">void</span> <a class="code" href="classcollision_1_1_collision_object_ex.html#ab080033cf96284d10d0a7950bf2fd595">CollisionObjectEx::invalidateCollisionEntityCache</a>(<span class="keywordtype">void</span>) {</div><div class="line"><a name="l00044"></a><span class="lineno">   44</span>&#160;  <span class="keywordflow">if</span> (fcl_solver_entity_valid_) {</div><div class="line"><a name="l00045"></a><span class="lineno">   45</span>&#160;    fcl_entity_-&gt;invalidateSolverEntityCache();</div><div class="line"><a name="l00046"></a><span class="lineno">   46</span>&#160;  }</div><div class="line"><a name="l00047"></a><span class="lineno">   47</span>&#160;}</div><div class="line"><a name="l00048"></a><span class="lineno"><a class="line" href="classcollision_1_1_collision_object_ex.html#a1e96193008a86cfe46c873d358aadc67">   48</a></span>&#160;<span class="keywordtype">int</span> <a class="code" href="classcollision_1_1_collision_object_ex.html#a1e96193008a86cfe46c873d358aadc67">CollisionObjectEx::getSolverEntity</a>(<a class="code" href="classcollision_1_1solvers_1_1solver_f_c_l_1_1_solver_entity___f_c_l.html">SolverEntity_FCL</a> *&amp;ptr)<span class="keyword"> const </span>{</div><div class="line"><a name="l00049"></a><span class="lineno">   49</span>&#160;  <a class="code" href="classcollision_1_1solvers_1_1solver_f_c_l_1_1_solver_entity___f_c_l.html">SolverEntity_FCL</a> *cur_value = fcl_entity_.get();</div><div class="line"><a name="l00050"></a><span class="lineno">   50</span>&#160;  <span class="keywordflow">if</span> (fcl_solver_entity_valid_) {</div><div class="line"><a name="l00051"></a><span class="lineno">   51</span>&#160;    ptr = cur_value;</div><div class="line"><a name="l00052"></a><span class="lineno">   52</span>&#160;    <span class="keywordflow">return</span> 0;</div><div class="line"><a name="l00053"></a><span class="lineno">   53</span>&#160;  } <span class="keywordflow">else</span> {</div><div class="line"><a name="l00054"></a><span class="lineno">   54</span>&#160;    <span class="comment">// FCL</span></div><div class="line"><a name="l00055"></a><span class="lineno">   55</span>&#160;    fcl_entity_ = std::move(</div><div class="line"><a name="l00056"></a><span class="lineno">   56</span>&#160;        std::unique_ptr&lt;collision::SolverEntity_FCL, SolverEntity_FCLDeleter&gt;(</div><div class="line"><a name="l00057"></a><span class="lineno">   57</span>&#160;            <a class="code" href="namespacecollision_1_1solvers_1_1solver_f_c_l.html#a140a98d814dd7585fee6106058c3c02e">createFCLSolverEntity</a>(<span class="keyword">this</span>)));</div><div class="line"><a name="l00058"></a><span class="lineno">   58</span>&#160;    fcl_solver_entity_valid_ = <span class="keyword">true</span>;</div><div class="line"><a name="l00059"></a><span class="lineno">   59</span>&#160;    ptr = fcl_entity_.get();</div><div class="line"><a name="l00060"></a><span class="lineno">   60</span>&#160;    <span class="keywordflow">return</span> 0;</div><div class="line"><a name="l00061"></a><span class="lineno">   61</span>&#160;  }</div><div class="line"><a name="l00062"></a><span class="lineno">   62</span>&#160;}</div><div class="line"><a name="l00063"></a><span class="lineno">   63</span>&#160;</div><div class="line"><a name="l00064"></a><span class="lineno">   64</span>&#160;} <span class="comment">// namespace collision</span></div><div class="ttc" id="solver__entity__fcl_8h_html"><div class="ttname"><a href="solver__entity__fcl_8h.html">solver_entity_fcl.h</a></div></div>
<div class="ttc" id="namespacecollision_1_1solvers_1_1solver_f_c_l_html_aa90569f714d7d5ce0cbeb73fb19775e1afe0ebdf03950e943b4df600e63ad9900"><div class="ttname"><a href="namespacecollision_1_1solvers_1_1solver_f_c_l.html#aa90569f714d7d5ce0cbeb73fb19775e1afe0ebdf03950e943b4df600e63ad9900">collision::solvers::solverFCL::COLLISION_ENTITY_TYPE_FCL_OBJECT</a></div><div class="ttdef"><b>Definition:</b> <a href="fcl__entity__type_8h_source.html#l00017">fcl_entity_type.h:17</a></div></div>
<div class="ttc" id="namespacecollision_1_1solvers_1_1solver_f_c_l_html_a140a98d814dd7585fee6106058c3c02e"><div class="ttname"><a href="namespacecollision_1_1solvers_1_1solver_f_c_l.html#a140a98d814dd7585fee6106058c3c02e">collision::solvers::solverFCL::createFCLSolverEntity</a></div><div class="ttdeci">SolverEntity_FCL * createFCLSolverEntity(const CollisionObjectEx *obj)</div><div class="ttdef"><b>Definition:</b> <a href="solver__entity__fcl__factory_8h_source.html#l00015">solver_entity_fcl_factory.h:15</a></div></div>
<div class="ttc" id="classcollision_1_1solvers_1_1solver_f_c_l_1_1_solver_entity___f_c_l_html"><div class="ttname"><a href="classcollision_1_1solvers_1_1solver_f_c_l_1_1_solver_entity___f_c_l.html">collision::solvers::solverFCL::SolverEntity_FCL</a></div><div class="ttdef"><b>Definition:</b> <a href="solver__entity__fcl_8h_source.html#l00010">solver_entity_fcl.h:10</a></div></div>
<div class="ttc" id="collision__object__ex_8h_html"><div class="ttname"><a href="collision__object__ex_8h.html">collision_object_ex.h</a></div></div>
<div class="ttc" id="collision__queries_8h_html"><div class="ttname"><a href="collision__queries_8h.html">collision_queries.h</a></div></div>
<div class="ttc" id="classcollision_1_1_collision_object_ex_html_a50d6ae971b8c05c6ad8e876ed3141733"><div class="ttname"><a href="classcollision_1_1_collision_object_ex.html#a50d6ae971b8c05c6ad8e876ed3141733">collision::CollisionObjectEx::BVCheck</a></div><div class="ttdeci">virtual bool BVCheck(CollisionObjectConstPtr obj2) const</div><div class="ttdef"><b>Definition:</b> <a href="collision__object__ex_8cc_source.html#l00020">collision_object_ex.cc:20</a></div></div>
<div class="ttc" id="classcollision_1_1_collision_result_html_acc22ba66fddc2dfb73d82257fcb30eae"><div class="ttname"><a href="classcollision_1_1_collision_result.html#acc22ba66fddc2dfb73d82257fcb30eae">collision::CollisionResult::collides</a></div><div class="ttdeci">bool collides() const</div><div class="ttdef"><b>Definition:</b> <a href="collision__requests_8h_source.html#l00015">collision_requests.h:15</a></div></div>
<div class="ttc" id="classcollision_1_1_collision_object_ex_html_ab080033cf96284d10d0a7950bf2fd595"><div class="ttname"><a href="classcollision_1_1_collision_object_ex.html#ab080033cf96284d10d0a7950bf2fd595">collision::CollisionObjectEx::invalidateCollisionEntityCache</a></div><div class="ttdeci">void invalidateCollisionEntityCache(void)</div><div class="ttdef"><b>Definition:</b> <a href="collision__object__ex_8cc_source.html#l00043">collision_object_ex.cc:43</a></div></div>
<div class="ttc" id="namespacecollision_html_a405f2c04407997fea529aad88f04ad30"><div class="ttname"><a href="namespacecollision.html#a405f2c04407997fea529aad88f04ad30">collision::CollisionObjectConstPtr</a></div><div class="ttdeci">std::shared_ptr&lt; const CollisionObject &gt; CollisionObjectConstPtr</div><div class="ttdef"><b>Definition:</b> <a href="collision__object_8h_source.html#l00041">collision_object.h:41</a></div></div>
<div class="ttc" id="namespacecollision_html"><div class="ttname"><a href="namespacecollision.html">collision</a></div><div class="ttdef"><b>Definition:</b> <a href="collision__checker_8h_source.html#l00020">collision_checker.h:20</a></div></div>
<div class="ttc" id="namespacecollision_html_a5cee8ff95bba8dd2854ffb0d65c45a0e"><div class="ttname"><a href="namespacecollision.html#a5cee8ff95bba8dd2854ffb0d65c45a0e">collision::collide_binary</a></div><div class="ttdeci">std::size_t collide_binary(const CollisionObject &amp;obj1, const CollisionObject &amp;obj2, CollisionResult &amp;res, const CollisionRequest &amp;req)</div><div class="ttdef"><b>Definition:</b> <a href="collision__queries_8cc_source.html#l00052">collision_queries.cc:52</a></div></div>
<div class="ttc" id="classcollision_1_1_collision_object_ex_html_a7cbe600ed254b8e9ae54fd1e658d6991"><div class="ttname"><a href="classcollision_1_1_collision_object_ex.html#a7cbe600ed254b8e9ae54fd1e658d6991">collision::CollisionObjectEx::getAABB</a></div><div class="ttdeci">virtual std::shared_ptr&lt; const collision::RectangleAABB &gt; getAABB() const</div><div class="ttdef"><b>Definition:</b> <a href="collision__object__ex_8cc_source.html#l00031">collision_object_ex.cc:31</a></div></div>
<div class="ttc" id="i__solver__entity__fcl_8h_html"><div class="ttname"><a href="i__solver__entity__fcl_8h.html">i_solver_entity_fcl.h</a></div></div>
<div class="ttc" id="classcollision_1_1solvers_1_1solver_f_c_l_1_1_solver_entity___f_c_l_html_a2f4083a26378b869e15a0bb4d12b097a"><div class="ttname"><a href="classcollision_1_1solvers_1_1solver_f_c_l_1_1_solver_entity___f_c_l.html#a2f4083a26378b869e15a0bb4d12b097a">collision::solvers::solverFCL::SolverEntity_FCL::getFclEntityType</a></div><div class="ttdeci">virtual FCL_COLLISION_ENTITY_TYPE getFclEntityType(void) const</div><div class="ttdef"><b>Definition:</b> <a href="solver__entity__fcl_8h_source.html#l00014">solver_entity_fcl.h:14</a></div></div>
<div class="ttc" id="classcollision_1_1_collision_object_ex_html_a1e96193008a86cfe46c873d358aadc67"><div class="ttname"><a href="classcollision_1_1_collision_object_ex.html#a1e96193008a86cfe46c873d358aadc67">collision::CollisionObjectEx::getSolverEntity</a></div><div class="ttdeci">virtual int getSolverEntity(SolverEntity_FCL *&amp;ptr) const</div><div class="ttdef"><b>Definition:</b> <a href="collision__object__ex_8cc_source.html#l00048">collision_object_ex.cc:48</a></div></div>
<div class="ttc" id="classcollision_1_1_collision_request_html"><div class="ttname"><a href="classcollision_1_1_collision_request.html">collision::CollisionRequest</a></div><div class="ttdoc">Universal structure specifying collision request properties.</div><div class="ttdef"><b>Definition:</b> <a href="collision__requests_8h_source.html#l00026">collision_requests.h:26</a></div></div>
<div class="ttc" id="classcollision_1_1_collision_object_ex_html_a7fa9738682fe6d4cdef843e99fa5e693"><div class="ttname"><a href="classcollision_1_1_collision_object_ex.html#a7fa9738682fe6d4cdef843e99fa5e693">collision::CollisionObjectEx::collide</a></div><div class="ttdeci">virtual bool collide(const CollisionObject &amp;c, const collision::CollisionRequest &amp;req=CollisionRequest()) const</div><div class="ttdef"><b>Definition:</b> <a href="collision__object__ex_8cc_source.html#l00013">collision_object_ex.cc:13</a></div></div>
<div class="ttc" id="solver__entity__fcl__factory_8h_html"><div class="ttname"><a href="solver__entity__fcl__factory_8h.html">solver_entity_fcl_factory.h</a></div></div>
<div class="ttc" id="classcollision_1_1_collision_object_html"><div class="ttname"><a href="classcollision_1_1_collision_object.html">collision::CollisionObject</a></div><div class="ttdoc">Base class for CollisionObjects and some of their groups.</div><div class="ttdef"><b>Definition:</b> <a href="collision__object_8h_source.html#l00047">collision_object.h:47</a></div></div>
<div class="ttc" id="classcollision_1_1_collision_result_html"><div class="ttname"><a href="classcollision_1_1_collision_result.html">collision::CollisionResult</a></div><div class="ttdoc">Structure holding result for a collision request.</div><div class="ttdef"><b>Definition:</b> <a href="collision__requests_8h_source.html#l00012">collision_requests.h:12</a></div></div>
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